#include <dynamixel_interface_driver.h>

Public Member Functions
	DynamixelInterfaceDriver (const std::string &device="/dev/ttyUSB0", int baud=1000000, bool use_legacy_protocol=false, bool use_group_read=true, bool use_group_write=true)

bool	getBulkDataportInfo (std::unordered_map< int, DynamixelDataport > &data_map) const

bool	getBulkDiagnosticInfo (std::unordered_map< int, DynamixelDiagnostic > &diag_map) const

bool	getBulkState (std::unordered_map< int, DynamixelState > &state_map) const

bool	getErrorStatus (int servo_id, DynamixelSeriesType type, uint8_t *error) const

bool	getMaxTorque (int servo_id, DynamixelSeriesType type, uint16_t *max_torque) const

bool	getModelNumber (int servo_id, uint16_t *model_number) const

const DynamixelSpec *	getModelSpec (uint model_number) const
	Get pointer to model spec data for given model number. More...

std::string	getSeriesName (DynamixelSeriesType type) const

bool	getTargetTorque (int servo_id, DynamixelSeriesType type, int16_t *target_torque) const

bool	getTorqueEnabled (int servo_id, DynamixelSeriesType type, bool *torque_enabled) const

bool	initialise (void)

bool	ping (int servo_id) const

bool	readRegisters (int servo_id, uint16_t address, uint16_t length, std::vector< uint8_t > *response) const

bool	setAngleLimits (int servo_id, DynamixelSeriesType type, int32_t min_angle, int32_t max_angle) const

bool	setMaxAngleLimit (int servo_id, DynamixelSeriesType type, int32_t angle) const

bool	setMaxTorque (int servo_id, DynamixelSeriesType type, uint16_t max_torque) const

bool	setMaxVelocity (int servo_id, DynamixelSeriesType type, uint32_t max_vel) const

bool	setMinAngleLimit (int servo_id, DynamixelSeriesType type, int32_t angle) const

bool	setMultiPosition (std::unordered_map< int, SyncData > &position_data) const

bool	setMultiProfileVelocity (std::unordered_map< int, SyncData > &velocity_data) const

bool	setMultiTorque (std::unordered_map< int, SyncData > &torque_data) const

bool	setMultiVelocity (std::unordered_map< int, SyncData > &velocity_data) const

bool	setOperatingMode (int servo_id, DynamixelSeriesType type, DynamixelControlMode operating_mode) const

bool	setPositionDerivativeGain (int servo_id, DynamixelSeriesType type, uint16_t gain) const

bool	setPositionIntegralGain (int servo_id, DynamixelSeriesType type, uint16_t gain) const

bool	setPositionPIDGains (int servo_id, DynamixelSeriesType type, double p_gain, double i_gain, double d_gain) const

bool	setPositionProportionalGain (int servo_id, DynamixelSeriesType type, uint16_t gain) const

bool	setProfileVelocity (int servo_id, DynamixelSeriesType type, int32_t velocity) const

bool	setTorque (int servo_id, DynamixelSeriesType type, int16_t torque) const

bool	setTorqueControlEnabled (int servo_id, DynamixelSeriesType type, bool on) const

bool	setTorqueEnabled (int servo_id, DynamixelSeriesType type, bool on) const

bool	setVelocityIntegralGain (int servo_id, DynamixelSeriesType type, uint16_t gain) const

bool	setVelocityPIDGains (int servo_id, DynamixelSeriesType type, double p_gain, double i_gain) const

bool	setVelocityProportionalGain (int servo_id, DynamixelSeriesType type, uint16_t gain) const

bool	writeRegisters (int servo_id, uint16_t address, uint16_t length, uint8_t *data) const

	~DynamixelInterfaceDriver ()
	Destructor. Closes and releases serial port. More...

Private Member Functions
bool	bulkRead (std::unordered_map< int, SyncData *> &read_data, uint16_t address, uint16_t length) const

bool	loadMotorData (void)

bool	syncRead (std::unordered_map< int, SyncData *> &read_data, uint16_t address, uint16_t length) const

bool	syncWrite (std::unordered_map< int, SyncData > &write_data, uint16_t address, uint16_t length) const

Private Attributes
int	baud_rate_
	baud rate More...

std::string	device_
	name of device to open More...

bool	initialised_ = false
	Variable to indicate if we're ready for comms. More...

std::unordered_map< uint16_t, const DynamixelSpec >	model_specs_
	map of model numbers to motor specifications More...

std::unique_ptr< dynamixel::PacketHandler >	packetHandler_
	packet handler. Provides raw response deconstruction. More...

std::unique_ptr< dynamixel::PortHandler >	portHandler_
	The port handler object. The dynamixel sdk serial object. More...

std::unordered_map< int, std::vector< uint8_t > >	raw_read_map_
	map to store raw reads into More...

uint8_t	single_read_fallback_counter_
	indicates group comm failure fallback interval More...

bool	use_group_read_
	using monolothic bulkRead or syncRead for bulk data exchange More...

bool	use_group_write_
	using monolothic syncWrite for bulk data exchange More...

bool	use_legacy_protocol_
	if we are using legacy 1.0 protocol or newer 2.0 protocol (depends on model support) More...

Detailed Description

Provides the handling of the low level communications between the dynamixels and the controller

Definition at line 146 of file dynamixel_interface_driver.h.

Constructor & Destructor Documentation

◆ DynamixelInterfaceDriver()

dynamixel_interface::DynamixelInterfaceDriver::DynamixelInterfaceDriver	(	const std::string &	device = `"/dev/ttyUSB0"`,
		int	baud = `1000000`,
		bool	use_legacy_protocol = `false`,
		bool	use_group_read = `true`,
		bool	use_group_write = `true`
	)

Constructor.

Parameters

[in]	device	The serial port to connect to
[in]	baud	The baud rate to use

Definition at line 95 of file dynamixel_interface_driver.cpp.

◆ ~DynamixelInterfaceDriver()

dynamixel_interface::DynamixelInterfaceDriver::~DynamixelInterfaceDriver ( )

Destructor. Closes and releases serial port.

Definition at line 143 of file dynamixel_interface_driver.cpp.

Member Function Documentation

◆ bulkRead()

bool dynamixel_interface::DynamixelInterfaceDriver::bulkRead	(	std::unordered_map< int, SyncData *> &	read_data,
		uint16_t	address,
		uint16_t	length
	)		const

private

Performs the bulk read for each protocol. A bulk read is a broadcast instruction on a bus that commands a list of dynamixels to respond in order with a read of a specified address and length (which can be different for each dynamixel). This protocol can be used to read many parameters from many dynamixels on a bus in just one instruction.

Parameters

[in]	read_data	Pointer to a map of SyncData objects, containing ids and vectors to read into
[in]	address	The address value in the control table the dynamixels will start reading from
[in]	length	The number of bytes to read consecutively from the control table

Returns: true if at least one dynamixel was successfully read

Definition at line 1049 of file dynamixel_interface_driver.cpp.

◆ getBulkDataportInfo()

bool dynamixel_interface::DynamixelInterfaceDriver::getBulkDataportInfo ( std::unordered_map< int, DynamixelDataport > & data_map ) const

Bulk Reads the voltage and temperature in one instruction, behaves the same as getBulkState()

Parameters

[in] data_map map of servo ids to dataport objects to read into

Returns: True on comm success, false otherwise

Definition at line 742 of file dynamixel_interface_driver.cpp.

◆ getBulkDiagnosticInfo()

bool dynamixel_interface::DynamixelInterfaceDriver::getBulkDiagnosticInfo ( std::unordered_map< int, DynamixelDiagnostic > & diag_map ) const

Bulk Reads the voltage and temperature in one instruction, behaves the same as getBulkState()

Parameters

[in] diag_map map of servo ids to diagnostics objects to read into

Returns: True on comm success, false otherwise

Definition at line 876 of file dynamixel_interface_driver.cpp.

◆ getBulkState()

bool dynamixel_interface::DynamixelInterfaceDriver::getBulkState ( std::unordered_map< int, DynamixelState > & state_map ) const

Bulk Reads the Present Position, Present Velocity and Present Current in one instruction. If the group read fails the function will fall back on reading each motor individually. Optionally, the group comms can be disabled on initialisation of the driver (by setting use_group_read to false) in which case the function will always read from each dynamixel individually.

Parameters

[in] state_map map of servo ids to state data to read into

Returns: True on comm success, false otherwise

Definition at line 574 of file dynamixel_interface_driver.cpp.

◆ getErrorStatus()

bool dynamixel_interface::DynamixelInterfaceDriver::getErrorStatus	(	int	servo_id,
		DynamixelSeriesType	type,
		uint8_t *	error_status
	)		const

Retrieves the hardware status error value from the dynamixel's eeprom

Parameters

[in]	servo_id	The ID of the servo to retrieve from
[in]	type	the type of the servo to read from
[out]	error	Stores the returned error code

Returns: True on comm success, false otherwise.

Definition at line 342 of file dynamixel_interface_driver.cpp.

◆ getMaxTorque()

bool dynamixel_interface::DynamixelInterfaceDriver::getMaxTorque	(	int	servo_id,
		DynamixelSeriesType	type,
		uint16_t *	max_torque
	)		const

Retrieves the maximum torque limit from the dynamixel's eeprom.

Parameters

[in]	servo_id	The ID of the servo to retrieve from
[in]	type	the type of the servo to read from
[out]	max_torque	Stores the value returned

Returns: True on comm success, false otherwise.

Definition at line 392 of file dynamixel_interface_driver.cpp.

◆ getModelNumber()

bool dynamixel_interface::DynamixelInterfaceDriver::getModelNumber	(	int	servo_id,
		uint16_t *	model_number
	)		const

Retrieves the model number from the dynamixel's eeprom

Parameters

[in]	servo_id	The ID of the servo to retrieve from
[out]	model_number	Stores the model_number returned

Returns: True on comm success, false otherwise.

Definition at line 318 of file dynamixel_interface_driver.cpp.

◆ getModelSpec()

const DynamixelSpec* dynamixel_interface::DynamixelInterfaceDriver::getModelSpec ( uint model_number ) const

inline

Get pointer to model spec data for given model number.

Definition at line 171 of file dynamixel_interface_driver.h.

◆ getSeriesName()

std::string dynamixel_interface::DynamixelInterfaceDriver::getSeriesName ( DynamixelSeriesType type ) const

inline

Returns a string version of the dynamixel series based on the input type

Parameters

[in] type the type of the servo to read from

Returns: The string name of the Dynamixel series

Definition at line 435 of file dynamixel_interface_driver.h.

◆ getTargetTorque()

bool dynamixel_interface::DynamixelInterfaceDriver::getTargetTorque	(	int	servo_id,
		DynamixelSeriesType	type,
		int16_t *	target_torque
	)		const

Retrieves the current target_velocity from the dynamixel's ram.

Parameters

[in]	servo_id	The ID of the servo to retrieve from
[in]	type	the type of the servo to read from
[out]	target_velocity	Stores the value returned

Returns: True on comm success, false otherwise.

Definition at line 493 of file dynamixel_interface_driver.cpp.

◆ getTorqueEnabled()

bool dynamixel_interface::DynamixelInterfaceDriver::getTorqueEnabled	(	int	servo_id,
		DynamixelSeriesType	type,
		bool *	torque_enabled
	)		const

Retrieves the torque enabled value from the dynamixel's ram.

Parameters

[in]	servo_id	The ID of the servo to retrieve from
[in]	type	the type of the servo to read from
[out]	torque_enabled	Stores the status of torque enable

Returns: True on comm success, false otherwise.

Definition at line 442 of file dynamixel_interface_driver.cpp.

◆ initialise()

bool dynamixel_interface::DynamixelInterfaceDriver::initialise ( void )

Parses Motor Data, Opens port and sets up driver

Returns: true if initialisation successful, false otherwise

Definition at line 259 of file dynamixel_interface_driver.cpp.

◆ loadMotorData()

bool dynamixel_interface::DynamixelInterfaceDriver::loadMotorData ( void )

private

Loads in the motor specifications from the motor_data.yaml file

Returns: true if load successful, false otherwise

Definition at line 153 of file dynamixel_interface_driver.cpp.

◆ ping()

bool dynamixel_interface::DynamixelInterfaceDriver::ping ( int servo_id ) const

Ping the specified id, used to check if a dynamixel with that ID is on the bus

Parameters

[in] servo_id The ID to ping on the bus.

Returns: True if a dynamixel responds, false otherwise.

Definition at line 295 of file dynamixel_interface_driver.cpp.

◆ readRegisters()

bool dynamixel_interface::DynamixelInterfaceDriver::readRegisters	(	int	servo_id,
		uint16_t	address,
		uint16_t	length,
		std::vector< uint8_t > *	response
	)		const

Retrieves arbitrary register readings from the Dynamixel, can be used in cases where provided getters are insufficient or to read multiple contiguous values at once.

Parameters

[in]	servo_id	The ID of the servo to retrieve from
[in]	address	The address value in the control table the dynamixel will start reading from
[in]	length	The number of bytes to read consecutively from the control table
[out]	response	Array to store the raw dynamixel response.

Definition at line 544 of file dynamixel_interface_driver.cpp.

◆ setAngleLimits()

bool dynamixel_interface::DynamixelInterfaceDriver::setAngleLimits	(	int	servo_id,
		DynamixelSeriesType	type,
		int32_t	min_angle,
		int32_t	max_angle
	)		const

Sets the minimum and maximum angle limits for the dynamixel

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	min_angle	the minimum angle limit (in encoder values)
[in]	max_angle	the maximum angle limit (in encoder values)

Returns: True on comm success, false otherwise.

Definition at line 1279 of file dynamixel_interface_driver.cpp.

◆ setMaxAngleLimit()

bool dynamixel_interface::DynamixelInterfaceDriver::setMaxAngleLimit	(	int	servo_id,
		DynamixelSeriesType	type,
		int32_t	angle
	)		const

Sets the maximum angle limit for the dynamixel

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	angle	The maximum angle limit (in encoder values)

Returns: True on comm success, false otherwise.

Definition at line 1346 of file dynamixel_interface_driver.cpp.

◆ setMaxTorque()

bool dynamixel_interface::DynamixelInterfaceDriver::setMaxTorque	(	int	servo_id,
		DynamixelSeriesType	type,
		uint16_t	max_torque
	)		const

Sets the maximum torque limit for the dynamixel

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	max_torque	the maximum torque limit

Returns: True on comm success, false otherwise.

Definition at line 1395 of file dynamixel_interface_driver.cpp.

◆ setMaxVelocity()

bool dynamixel_interface::DynamixelInterfaceDriver::setMaxVelocity	(	int	servo_id,
		DynamixelSeriesType	type,
		uint32_t	max_vel
	)		const

Sets the maximum velocity limit for the dynamixel

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	max_vel	the maximum velocity limit

Returns: True on comm success, false otherwise.

Definition at line 1450 of file dynamixel_interface_driver.cpp.

◆ setMinAngleLimit()

bool dynamixel_interface::DynamixelInterfaceDriver::setMinAngleLimit	(	int	servo_id,
		DynamixelSeriesType	type,
		int32_t	angle
	)		const

Sets the minimum angle limit for the dynamixel

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	angle	The minimum angle limit (in encoder values)

Returns: True on comm success, false otherwise.

Definition at line 1297 of file dynamixel_interface_driver.cpp.

◆ setMultiPosition()

bool dynamixel_interface::DynamixelInterfaceDriver::setMultiPosition ( std::unordered_map< int, SyncData > & position_data ) const

Set many dynamixels with new position values in one instruction.

See also: syncWrite.

Parameters

[in] position_data map of ids to syncdata objects containing position data

Returns: True on comm success, false otherwise.

Definition at line 2070 of file dynamixel_interface_driver.cpp.

◆ setMultiProfileVelocity()

bool dynamixel_interface::DynamixelInterfaceDriver::setMultiProfileVelocity ( std::unordered_map< int, SyncData > & velocity_data ) const

Set many dynamixels with new profile velocity values in one instruction.

See also: syncWrite.

Parameters

[in] velocity_data map of ids to syncdata objects containing profile velocity data

Returns: True on comm success, false otherwise.

Definition at line 2137 of file dynamixel_interface_driver.cpp.

◆ setMultiTorque()

bool dynamixel_interface::DynamixelInterfaceDriver::setMultiTorque ( std::unordered_map< int, SyncData > & torque_data ) const

Set many dynamixels with new torque values in one instruction.

See also: syncWrite.

Parameters

[in] torque_data map of ids to syncdata objects containing torque data

Returns: True on comm success, false otherwise.

Definition at line 2170 of file dynamixel_interface_driver.cpp.

◆ setMultiVelocity()

bool dynamixel_interface::DynamixelInterfaceDriver::setMultiVelocity ( std::unordered_map< int, SyncData > & velocity_data ) const

Set many dynamixels with new position values in one instruction.

See also: syncWrite.

Parameters

[in] velocity_data map of ids to syncdata objects containing velocity data

Returns: True on comm success, false otherwise.

Definition at line 2104 of file dynamixel_interface_driver.cpp.

◆ setOperatingMode()

bool dynamixel_interface::DynamixelInterfaceDriver::setOperatingMode	(	int	servo_id,
		DynamixelSeriesType	type,
		DynamixelControlMode	operating_mode
	)		const

Sets the Operating mode of the Dynamixel. The three possible control modes are: Position, Velocity or Torque. The way these modes are enabled differs for each series of dynamixel. XM and Pro have an operating mode register that can be used to changed the control type. For AX, RX and MX series, the method of control is defined by the values in the angle limit registers and the torque_control_enable register. Note torque control is not available on the MX-28 models.

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	operating_mode	The method of control

Returns: True on comm success and valid operating mode, false otherwise.

Definition at line 1185 of file dynamixel_interface_driver.cpp.

◆ setPositionDerivativeGain()

bool dynamixel_interface::DynamixelInterfaceDriver::setPositionDerivativeGain	(	int	servo_id,
		DynamixelSeriesType	type,
		uint16_t	gain
	)		const

Sets the derivative gain value for the position control mode if available.

See also: setPIDGains

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	gain	The derivative gain value to write

Returns: True on comm success, false otherwise.

Definition at line 1751 of file dynamixel_interface_driver.cpp.

◆ setPositionIntegralGain()

bool dynamixel_interface::DynamixelInterfaceDriver::setPositionIntegralGain	(	int	servo_id,
		DynamixelSeriesType	type,
		uint16_t	gain
	)		const

Sets the integral gain value for the position control mode if available.

See also: setPIDGains

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	gain	The integral gain value to write

Returns: True on comm success, false otherwise.

Definition at line 1702 of file dynamixel_interface_driver.cpp.

◆ setPositionPIDGains()

bool dynamixel_interface::DynamixelInterfaceDriver::setPositionPIDGains	(	int	servo_id,
		DynamixelSeriesType	type,
		double	p_gain,
		double	i_gain,
		double	d_gain
	)		const

The following functions set the PID gains for the dynamixel. note that the PID gains are available based on series and control type:

AX Series:
- None
RX Series:
- None
MX (1.0) Series:
- Position: P,I,D
- Velocity: None
- Torque: None
XM Series:
- Position: P,I,D
- Velocity: P,I
- Torque: None

Pro Series:

Position: P
Velocity: P,I

Torque: None -Sets the position PID values for the dynamixels

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	p_gain	The proportional gain value to write
[in]	i_gain	The integral gain value to write
[in]	d_gain	The derivative gain value to write

Returns: True on comm success, false otherwise.

Sets the position PID values for the dynamixels

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	p_gain	The proportional gain value to write
[in]	i_gain	The integral gain value to write
[in]	d_gain	The derivative gain value to write

Returns: True on comm success, false otherwise.

Definition at line 1585 of file dynamixel_interface_driver.cpp.

◆ setPositionProportionalGain()

bool dynamixel_interface::DynamixelInterfaceDriver::setPositionProportionalGain	(	int	servo_id,
		DynamixelSeriesType	type,
		uint16_t	gain
	)		const

Sets the proportional gain value for the position control mode if available.

See also: setPIDGains

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	gain	The proportional gain value to write

Returns: True on comm success, false otherwise.

Definition at line 1651 of file dynamixel_interface_driver.cpp.

◆ setProfileVelocity()

bool dynamixel_interface::DynamixelInterfaceDriver::setProfileVelocity	(	int	servo_id,
		DynamixelSeriesType	type,
		int32_t	velocity
	)		const

Sets the profile velocity of the dynamixel. Profile velocity is how fast the servo should move between positions.

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	velocity	The profile velocity value to write

Returns: True on comm success, false otherwise.

Definition at line 1944 of file dynamixel_interface_driver.cpp.

◆ setTorque()

bool dynamixel_interface::DynamixelInterfaceDriver::setTorque	(	int	servo_id,
		DynamixelSeriesType	type,
		int16_t	torque
	)		const

Sets the torque value of the dynamixel.

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	torque	The torque value to write

Returns: True on comm success, false otherwise.

Definition at line 1994 of file dynamixel_interface_driver.cpp.

◆ setTorqueControlEnabled()

bool dynamixel_interface::DynamixelInterfaceDriver::setTorqueControlEnabled	(	int	servo_id,
		DynamixelSeriesType	type,
		bool	on
	)		const

Sets the torque control enable register of the dynamixel mx series. can be used to dynamically switch between position and torque control modes.

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	on	The torque control state of the servo (true = on, false = off).

Returns: True on comm success, false otherwise.

Definition at line 1549 of file dynamixel_interface_driver.cpp.

◆ setTorqueEnabled()

bool dynamixel_interface::DynamixelInterfaceDriver::setTorqueEnabled	(	int	servo_id,
		DynamixelSeriesType	type,
		bool	on
	)		const

Sets the torque enable register of the dynamixel. This value defines the on/off state of the servo.

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	on	The state of the servo (true = on, false = off).

Returns: True on comm success, false otherwise.

Definition at line 1498 of file dynamixel_interface_driver.cpp.

◆ setVelocityIntegralGain()

bool dynamixel_interface::DynamixelInterfaceDriver::setVelocityIntegralGain	(	int	servo_id,
		DynamixelSeriesType	type,
		uint16_t	gain
	)		const

Sets the integral gain value for the velocity control mode if available.

See also: setPIDGains

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	gain	The integral gain value to write

Returns: True on comm success, false otherwise.

Definition at line 1898 of file dynamixel_interface_driver.cpp.

◆ setVelocityPIDGains()

bool dynamixel_interface::DynamixelInterfaceDriver::setVelocityPIDGains	(	int	servo_id,
		DynamixelSeriesType	type,
		double	p_gain,
		double	i_gain
	)		const

Sets the velocity PID values for the dynamixels

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	p_gain	The proportional gain value to write
[in]	i_gain	The integral gain value to write
[in]	d_gain	The derivative gain value to write

Returns: True on comm success, false otherwise.

Definition at line 1802 of file dynamixel_interface_driver.cpp.

◆ setVelocityProportionalGain()

bool dynamixel_interface::DynamixelInterfaceDriver::setVelocityProportionalGain	(	int	servo_id,
		DynamixelSeriesType	type,
		uint16_t	gain
	)		const

Sets the proportional gain value for the velocity control mode if available.

See also: setPIDGains

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	type	the type of the servo to read from
[in]	gain	The proportional gain value to write

Returns: True on comm success, false otherwise.

Definition at line 1852 of file dynamixel_interface_driver.cpp.

◆ syncRead()

bool dynamixel_interface::DynamixelInterfaceDriver::syncRead	(	std::unordered_map< int, SyncData *> &	read_data,
		uint16_t	address,
		uint16_t	length
	)		const

private

Performs the sync read for each protocol. A sync read is a broadcast instruction on a bus that commands a list of dynamixels to respond in order with a read of a specified address and length. This protocol can be used to read many parameters from many dynamixels on a bus in just one instruction.

Parameters

[in]	read_data	Pointer to a map of SyncData objects, containing ids and vectors to read into
[in]	address	The address value in the control table the dynamixels will start reading from
[in]	length	The number of bytes to read consecutively from the control table

Returns: true if at least one dynamixel was successfully read

Definition at line 1111 of file dynamixel_interface_driver.cpp.

◆ syncWrite()

bool dynamixel_interface::DynamixelInterfaceDriver::syncWrite	(	std::unordered_map< int, SyncData > &	write_data,
		uint16_t	address,
		uint16_t	length
	)		const

private

Performs the sync write for each protocol. A sync write is a broadcast instruction on a bus that commands a list of dynamixels to write a value into a specified address (the value written can be different for each dynamixel but the address is universal). This can be used to update a parameter (say goal position) for many dynamixels, each with a unique value, all in one instruction.

Parameters

[in]	write_data	Pointer to a map of SyncData objects, containing ids and vectors to write from.
[in]	address	The address value in the control table the dynamixels will write to
[in]	length	The number of bytes to write

Returns: true on successful write, false otherwise

Definition at line 2211 of file dynamixel_interface_driver.cpp.

◆ writeRegisters()

bool dynamixel_interface::DynamixelInterfaceDriver::writeRegisters	(	int	servo_id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)		const

Writes arbitrary register values to the Dynamixel, can be used in cases where provided setters are insufficient or to write multiple contiguous values at once.

Parameters

[in]	servo_id	The ID of the servo to write to
[in]	address	The address value in the control table the dynamixel will start writing to
[in]	length	The number of bytes to write consecutively to the control table
[in]	data	Array containing the value to be written.

Returns: True on comm success, false otherwise.

Definition at line 2046 of file dynamixel_interface_driver.cpp.

Member Data Documentation

◆ baud_rate_

int dynamixel_interface::DynamixelInterfaceDriver::baud_rate_

private

baud rate

Definition at line 510 of file dynamixel_interface_driver.h.

◆ device_

std::string dynamixel_interface::DynamixelInterfaceDriver::device_

private

name of device to open

Definition at line 509 of file dynamixel_interface_driver.h.

◆ initialised_

bool dynamixel_interface::DynamixelInterfaceDriver::initialised_ = false

private

Variable to indicate if we're ready for comms.

Definition at line 516 of file dynamixel_interface_driver.h.

◆ model_specs_

std::unordered_map<uint16_t, const DynamixelSpec> dynamixel_interface::DynamixelInterfaceDriver::model_specs_

private

map of model numbers to motor specifications

Definition at line 519 of file dynamixel_interface_driver.h.

◆ packetHandler_

std::unique_ptr<dynamixel::PacketHandler> dynamixel_interface::DynamixelInterfaceDriver::packetHandler_

private

packet handler. Provides raw response deconstruction.

Definition at line 507 of file dynamixel_interface_driver.h.

◆ portHandler_

std::unique_ptr<dynamixel::PortHandler> dynamixel_interface::DynamixelInterfaceDriver::portHandler_

private

The port handler object. The dynamixel sdk serial object.

Definition at line 506 of file dynamixel_interface_driver.h.

◆ raw_read_map_

std::unordered_map<int, std::vector<uint8_t> > dynamixel_interface::DynamixelInterfaceDriver::raw_read_map_

private

map to store raw reads into

Definition at line 520 of file dynamixel_interface_driver.h.

◆ single_read_fallback_counter_

uint8_t dynamixel_interface::DynamixelInterfaceDriver::single_read_fallback_counter_

private

indicates group comm failure fallback interval

Definition at line 517 of file dynamixel_interface_driver.h.

◆ use_group_read_

bool dynamixel_interface::DynamixelInterfaceDriver::use_group_read_

private

using monolothic bulkRead or syncRead for bulk data exchange

Definition at line 513 of file dynamixel_interface_driver.h.

◆ use_group_write_

bool dynamixel_interface::DynamixelInterfaceDriver::use_group_write_

private

using monolothic syncWrite for bulk data exchange

Definition at line 514 of file dynamixel_interface_driver.h.

◆ use_legacy_protocol_

bool dynamixel_interface::DynamixelInterfaceDriver::use_legacy_protocol_

private

if we are using legacy 1.0 protocol or newer 2.0 protocol (depends on model support)

Definition at line 512 of file dynamixel_interface_driver.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DynamixelInterfaceDriver()

◆ ~DynamixelInterfaceDriver()

Member Function Documentation

◆ bulkRead()

◆ getBulkDataportInfo()

◆ getBulkDiagnosticInfo()

◆ getBulkState()

◆ getErrorStatus()

◆ getMaxTorque()

◆ getModelNumber()

◆ getModelSpec()

◆ getSeriesName()

◆ getTargetTorque()

◆ getTorqueEnabled()

◆ initialise()

◆ loadMotorData()

◆ ping()

◆ readRegisters()

◆ setAngleLimits()

◆ setMaxAngleLimit()

◆ setMaxTorque()

◆ setMaxVelocity()

◆ setMinAngleLimit()

◆ setMultiPosition()

◆ setMultiProfileVelocity()

◆ setMultiTorque()

◆ setMultiVelocity()

◆ setOperatingMode()

◆ setPositionDerivativeGain()

◆ setPositionIntegralGain()

◆ setPositionPIDGains()

◆ setPositionProportionalGain()

◆ setProfileVelocity()

◆ setTorque()

◆ setTorqueControlEnabled()

◆ setTorqueEnabled()

◆ setVelocityIntegralGain()

◆ setVelocityPIDGains()

◆ setVelocityProportionalGain()

◆ syncRead()

◆ syncWrite()

◆ writeRegisters()

Member Data Documentation

◆ baud_rate_

◆ device_

◆ initialised_

◆ model_specs_

◆ packetHandler_

◆ portHandler_

◆ raw_read_map_

◆ single_read_fallback_counter_

◆ use_group_read_

◆ use_group_write_

◆ use_legacy_protocol_